Map to Multiple Pick Points

Function Description

Calculates other pick points of the object through the object geometric center point and set mapping relationship.

Use Cases

When the object’s pick point is inconsistent with the geometric center point, or there is more than one pick point, this step needs to be used.

Inputs

  • Pick Point Poses: Geometric center pose list of the object (First 3D coarse matching -> 3D fine matching)

Outputs

  • Pick Point Poses: Pose of multiple pick points.

  • Pose Labels: Classification labels of multiple pick points.

  • Pose Offsets: Offset from geometric center to pick point in the object coordinate system.

  • Object Indices: Index list corresponding to pick points.

Parameters

  • Matching Mode: Select the matching method. When set to “Surface”, select the surface point cloud template; when match mode is “Edge”: select the edge point cloud template.

  • Select Object: Select the corresponding workpiece point cloud template.